#include <iostream> 
#include <opencv2/opencv.hpp>

/**
 * 
 * 事先标定好的相机的参数
 * fx 0 cx
 * 0 fy cy
 * 0 0  1
 *
 */
 cv::Mat cameraMatrixL 
    = (cv::Mat_<double>(3, 3) << 682.55880, 0, 384.13666,
                                0, 682.24569, 311.19558,
                                0, 0, 1);
cv::Mat distCoeffL 
    = (cv::Mat_<double>(5, 1) << -0.51614, 0.36098, 0.00523, -0.00225, 0.00000);

cv::Mat cameraMatrixR 
    = (cv::Mat_<double>(3, 3) << 685.03817, 0, 397.39092,
                                0, 682.54282, 272.04875,
                                0, 0, 1);
cv::Mat distCoeffR 
    = (cv::Mat_<double>(5, 1) << -0.46640, 0.22148, 0.00947, -0.00242, 0.00000);

cv::Mat T   //T平移向量
    = (cv::Mat_<double>(3, 1) << -61.34485, 2.89570, -4.76870);
cv::Mat rec //rec旋转向量
    = (cv::Mat_<double>(3, 1) << -0.00306, -0.03207, 0.00206);
cv::Mat R;  // 旋转矩阵

int main(int argc, char** argv){

    return 0;
}